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He was born Peter Ewart Ohm[2] on 4 April 1923,[3] in Wem, Shropshire,[4] the son of a bank clerk, Max Ohm, who was an Austrian immigrant,[5] and Eva Wright, a nurse.[6] The family later moved to Wellington in the same county, where he began schooling; he later said it was while reciting a poem at infant school in Wellington that he experienced the applause and admiration coming from a good performance.[7] He was brought up from the age of seven in Staffordshire[8] where he attended Uttoxeter Grammar School.[6]

He became known for his performances on television, including supporting roles in Porridge (as "Genial" Harry Grout) and Citizen Smith as Charles Johnson, (although his role in the latter series was taken over by Tony Steedman). Vaughan's role in Porridge brought him a great deal of public recognition, despite the fact that his character appeared in only three episodes and the 1979 film of the series.[14]

Vaughan's first of two marriages was to Billie Whitelaw, whom he married in 1952 and divorced in 1966.[3][6] His second wife was actress Lillias Walker, with whom he lived in the village of Mannings Heath, in West Sussex until his death, having previously lived in Crawley. His stepdaughter Victoria Burton (actress and producer) is married to Gregor Fisher.[21]

Vaughan was partially blind. He died on 6 December 2016 at the age of 93.[22][23]